Leadshine EL8-EC Series User Manual page 79

Activation
To determine the responsiveness of the velocity loop. If inertia ratio of Pr0.04 is uniform with actual
inertia ratio, velocity loop responsiveness = Pr1.01.
To increase position loop gain and improve responsiveness of the whole system, velocity loop
gain must be set at higher value. Please notice that if the velocity loop gain is too high, it might
cause vibration.
Label
Pr1.02
Range
Activation
If auto gain adjusting function is not enabled, Pr1.02 is activated.
The lower the set value, the closer the lag error at stop to 0 but might cause vibration. If the value
set is overly large, overshoot, delay of positioning time duration and lowered responsiveness
might occur.
Set 10000 to deactivate Pr1.02.
Recommended range: 50000≤PA1.01xPA1.02≤150000
For example: Velocity loop gain Pr1.01=500(0.1Hz), which is 50Hz. Integral time constant of
velocity loop should be 100(0.1ms)≤Pr1.02≤300(0.1ms)
Label
Range
Pr1.03
Activation
This filter is a low pass filter. It blocks high frequencies which cause system instability from velocity
feedback data. The higher the set value, lower frequencies will be blocked and velocity
responsiveness will also be lowered. Pr1.03 needs to match velocity loop gain. Please refer to the
following table.
Immediate
st
1 Integral Time Constant
of Velocity Loop
1~1000
Unit
0
Immediate
st
1 velocity detection filter
0~1000
Unit
0
Immediate
Set Velocity Detection
Value Filter Cut-off
Frequency(Hz)
0 2500
1 2250
2 2100
3 2000
4 1800
5 1600
6 1500
7 1400
8 1300
9 1200
10 1100
11 1000
12 950
13 900
14 850
15 800
User manual of EL8-EC***F AC Servo
Mode
0.1ms Default
Mode
— Default
Set
Value
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
310 Index
15 Index
Velocity Detection
Filter Cut-off
Frequency(Hz)
750
700
650
600
550
500
450
400
350
300
250
200
175
150
125
100
79
F
2102h
F
2103h